CONTROL DEVICE FOR THE POSITION CONTROL OF A HYDRAULIC CYLINDER UNIT, COMPRISING A LINEARIZATION UNIT

摘要

The invention relates to a control device (11) for the position control of a hydraulic cylinder unit (1). Said control device comprises a controller (15) which, on the input side, receives a set position (s*) of a piston (3) of the hydraulic cylinder unit (1) and an actual position (s) of the piston (3) and determines a preliminary manipulated variable (u') for a valve control unit (7) of the hydraulic cylinder unit (1) based on the difference (ds) of the set position (s*) and the actual position (s). A linearization unit (17) is mounted downstream of the controller (15) and multiplies the preliminary manipulated variable (u') with a linearization factor (F) and outputs the preliminary manipulated variable (u') multiplied with the linearization factor (F) as the final manipulated variable (u) to the valve control unit (7) so that the piston (3) is adjusted at an adjustment speed (v). The linearization unit (17) determines the linearization factor (F) dynamically as a function of the actual position (s) of the piston (3) and of working pressures (pA, pB, pP, pT) that prevail at both sides of the piston (3) and at the inlet and outlet side of the valve control unit (7). The linearization factor is determined in such a manner that a ratio of the adjustment speed (v) to the difference (ds) of the set position (s*) and the actual position (s) is independent of the actual position (s) of the piston (3) and the working pressures (pA, pB, pP, pT). In the specific case where the controller (15) is configured as a P controller, the order of the controller (15) and the linearization unit (17) can be reversed.